from fastcore.utils import *
from UAV.airsim.client import AirSimClient
import UAV.airsim_python_client as airsim
import UAV.params as params
import time
from UAV.utils.sim_linux import RunSim, is_process_running, find_and_terminate_process
import logging
from UAV.airsim.commands import *Airsim.Commands
Multicopter higher level commands for the Airsim simulator
logging.basicConfig(format='%(asctime)-8s,%(msecs)-3d %(levelname)5s [name] [%(filename)10s:%(lineno)3d] %(message)s',
datefmt='%H:%M:%S',
level=params.LOGGING_LEVEL)
logger = logging.getLogger(params.LOGGING_NAME)from UAV.utils.display import *
from UAV.utils.sim_linux import *
from matplotlib import pyplot as pltstart_sim
start_sim ()
Start the Airsim simuator if it is not already running
DroneCommands.arm
DroneCommands.arm ()
Run the drone on a path in the Airsim simulator. Creates a client and connects to the simulator.
DroneCommands.takeoff
DroneCommands.takeoff ()
Takeoff to the takeoff height
DroneCommands.do_NH_path
DroneCommands.do_NH_path ()
Fly on a path in the Airsim simulator
DroneCommands.rth
DroneCommands.rth ()
DroneCommands.land
DroneCommands.land ()
DroneCommands.disarm
DroneCommands.disarm ()
Disarm the drone and disconnect from the simulator
DroneCommands.do_tasklist
DroneCommands.do_tasklist ()
Run a list of tasks in order
DroneCommands.stop
DroneCommands.stop ()
stop the client by cancelling the last task and exiting the do_tasklist loop
An end to end example
The drone cammands are run in a separate process with the video loop running in the main process.
RECORD_VIDEO = False
import threading
from UAV.airsim.commands import DroneCommands
from UAV.airsim.client import AirSimClient
import UAV.airsim_python_client as airsim
from UAV.utils.sim_linux import RunSim
from UAV.utils.display import puttext, VideoWriter, ScrollingLog, ScrollingLogHandler
from imutils import resize
import cv2
import logging
import time
# logging.basicConfig(format=
# '%(asctime)-8s,%(msecs)-3d %(levelname)5s [%(filename)10s:%(lineno)3d] %(message)s',
# datefmt='%H:%M:%S',
# level=logging.INFO)
import UAV.params as params
logger = logging.getLogger(params.LOGGING_NAME) # Todo add this to params
logger.setLevel(params.LOGGING_LEVEL)
# log = ScrollingLog(bg_color=(0,0,0))
log = ScrollingLog(position=(20,80), font_scale=1.5 , color=(0,0,255), thickness=1)
handler_log = ScrollingLogHandler(log, logger)
logger.info(f"Hello World...")
rs = RunSim("AirSimNH", settings="config/settings_high_res.json")
asc = AirSimClient()
cmd = DroneCommands()
t = threading.Thread(target=cmd.do_tasklist, daemon=True)
t.start()
framecounter = 1
cam_num = 0
cams = ["high_res", "front_center", "front_right", "front_left", "bottom_center", "back_center"]
# with VideoWriter("images/airsim_test.mp4", 5.0) as video:
if RECORD_VIDEO:
video = VideoWriter("images/airsim_nav_test.mp4", 5.0)
else:
video = None
# with VideoWriter("images/airsim_nav_test.mp4", 25.0) as video:
if True:
while(True):
framecounter += 1
state = asc.getMultirotorState()
pos = state.kinematics_estimated.position
img = asc.get_image(cams[cam_num], rgb2bgr=False)
puttext(img, f"Frame: {framecounter} Pos: {pos.x_val:.2f}, {pos.y_val:.2f}, {pos.z_val:.2f}")
img = resize(img, width=800)
# log.update(f"Frame: {framecounter} Pos: {pos.x_val:.2f}, {pos.y_val:.2f}, {pos.z_val:.2f}")
if framecounter % 100 == 0:
print(f"Frame: {framecounter} Pos: {pos.x_val:.2f}, {pos.y_val:.2f}, {pos.z_val:.2f}")
log.draw(img)
cv2.imshow("Camera", img)
if video is not None: video.add(img)
# video.add(img_bgr)
k = cv2.waitKey(10)
if k == ord('q') or k == ord('Q'):
# logger.info("......cancelLastTask")
asc.cancelLastTask()
# print(f"Landed state: {state.landed_state}")
if state.landed_state == 0:
logger.info("Landed state = 0, so quiting")
break
if k == ord('c') or k == ord('C'):
cam_num += 1
if cam_num >= len(cams):
cam_num = 0
# log.update(f"Camera: {cams[cam_num]}")
logger.info(f"Camera: {cams[cam_num]}")
if k == 27:
cmd.stop()
time.sleep(1)
break
# if framecounter > 50:
# break
cmd.disarm()
t.join(timeout=5)
cv2.destroyAllWindows()
rs.exit()
if video is not None:
video.close()
video.show(width=500)INFO | uav_log | 13.731 | 2696093584.py: 23 | MainThread | Hello World...
INFO | uav_log | 16.754 | commands.py: 46 | Thread-6 (do_taskl | Arming the drone...
INFO | uav_log | 16.755 | commands.py: 61 | Thread-6 (do_taskl | taking off...
INFO | uav_log | 22.300 | commands.py: 82 | Thread-6 (do_taskl | flying on path...
INFO | uav_log | 36.535 | commands.py: 93 | Thread-6 (do_taskl | returning home...
INFO | uav_log | 39.553 | commands.py: 99 | Thread-6 (do_taskl | landing...
INFO | uav_log | 41.276 | commands.py: 52 | Thread-6 (do_taskl | disarming...
INFO | uav_log | 45.054 | 2696093584.py: 64 | MainThread | Landed state = 0, so quiting
INFO | uav_log | 45.055 | commands.py: 52 | MainThread | disarming...Settings file config/settings_high_res.json not found.
Starting Airsim ['/home/jn/Airsim/AirSimNH/LinuxNoEditor/AirSimNH/Binaries/Linux/AirSimNH', '-ResX=800', '-ResY=600', '-windowed']
Started Airsim AirSimNH
Connected!
Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)
Writing video to /home/jn/PycharmProjects/UAV/nbs/api/images/airsim_nav_test.mp4 at 5.0 fps.
Connected!
Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)
make sure we are hovering at 5 meters...
This script is designed to fly on the streets of the Neighborhood environment
and assumes the unreal position of the drone is [160, -1500, 120].
Frame: 100 Pos: 41.01, -0.00, -6.36
Frame: 200 Pos: 126.92, -33.09, -10.31
Airsim exited with rc = 143
Video: /home/jn/PycharmProjects/UAV/nbs/api/images/airsim_nav_test.mp4